Changed recommended exploration option

smb_exploration/README.md

@@ -18,18 +18,7 @@ catkin build smb_exploration
 
 The instructions are pretty much the same for running the planner in simulation or on the real-robot. Once you have the simulation (or real robot smb.launch) running, from a separate sourced terminal run the following command to launch the planner (Note: you will have had to build ```smb_navigation``` package before as well). 
 
-#### Option 1: Running with Online SLAM + MSF Graph (Recommended)
-You will require four sourced terminals for this. In each of the new terminals run the following commands. Make sure that you are consistent with the odometry topics and frame names. Additionally, you will also have had the ```smb_msf_graph``` built.
-```bash
-catkin build smb_exploration smb_navigation smb_msf_graph # Building the necessary packages if not done before
-```
-```bash
-roslaunch smb smb.launch # Use the Gazebo equivalent if running in simulation
-roslaunch smb_msf_graph smb_msf_graph.launch # To launch the msf Graph State Estimation
-roslaunch smb_exploration smb_rss_frontier.launch odom_frame:=odom_graph_msf map_frame:=gmap_map publish_odom_to_map:=true # Exploration + GMapping
-roslaunch smb_navigation navigate2d_ompl.launch exploration:=true global_frame:=gmap_map odom_topic:=/graph_msf/est_odometry_odom_imu # Path Planner
-```
-#### Option 2: Running with tracking camera odometry
+#### Option 1: Running with tracking camera odometry (Recommended)
 You will require three sourced terminals for this. In each of the new terminals run the following commands.
 ```bash
 catkin build smb_exploration smb_navigation # Building the necessary packages if not done before
@@ -41,6 +30,18 @@ roslaunch smb_navigation navigate2d_ompl.launch global_frame:=tracking_camera_od
 ```
 You can visualize the 2D Occupancy map on the ```/map``` topic and the frontiers on the ```/explore/frontiers``` in RViz.
 
+#### Option 2: Running with Online SLAM + MSF Graph
+You will require four sourced terminals for this. In each of the new terminals run the following commands. Make sure that you are consistent with the odometry topics and frame names. Additionally, you will also have had the ```smb_msf_graph``` built.
+```bash
+catkin build smb_exploration smb_navigation smb_msf_graph # Building the necessary packages if not done before
+```
+```bash
+roslaunch smb smb.launch # Use the Gazebo equivalent if running in simulation
+roslaunch smb_msf_graph smb_msf_graph.launch # To launch the msf Graph State Estimation
+roslaunch smb_exploration smb_rss_frontier.launch odom_frame:=odom_graph_msf map_frame:=gmap_map publish_odom_to_map:=true # Exploration + GMapping
+roslaunch smb_navigation navigate2d_ompl.launch exploration:=true global_frame:=gmap_map odom_topic:=/graph_msf/est_odometry_odom_imu # Path Planner
+```
+
 
 ## GBPlanner